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You can try googling around to see if someone has a urdf file already or there are several tutorials on how to create your own file.

I recently just went through this process for our arm, so I'm oh too familiar. These tutorials were really helpful to me:

http://wiki.ros.org/urdf/Tutorials

Specifically, the first one in section 1 gives a great explanations of things. Then all of section 2 is really great too. I strongly recommend reading through all of them before you start writing your own file because I got to 2.4 and it starts with "if you're sick of doing all this by hand, here's how xacro" can help make your life SO much easier.

You can try googling around to see if someone has a urdf file already or there are several tutorials on how to create your own file.

I recently just went through this process for our arm, so I'm oh too familiar. These tutorials were really helpful to me:

http://wiki.ros.org/urdf/Tutorials

Specifically, the first one in section 1 gives a great explanations of things. Then all of section 2 is really great too. I strongly recommend reading through all of them before you start writing your own file because I got to 2.4 and it starts with "if you're sick of doing all this by hand, here's how xacro" xacro can help make your life SO much easier.easier".